/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
#define CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H

#include "async_grpc/execution_context.h"
#include "cartographer/cloud/internal/local_trajectory_uploader.h"
#include "cartographer/common/internal/blocking_queue.h"
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/mapping/proto/serialization.pb.h"
#include "cartographer/sensor/data.h"
#include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h"

namespace cartographer
{
    namespace cloud
    {
        class MapBuilderServer;
        class MapBuilderContextInterface : public async_grpc::ExecutionContext
        {
        public:
            struct LocalSlamResult
            {
                int trajectory_id;
                common::Time time;
                transform::Rigid3d local_pose;
                std::shared_ptr<const sensor::RangeData> range_data;
                std::unique_ptr<const mapping::TrajectoryBuilderInterface::InsertionResult>
                    insertion_result;
            };
            // Calling with 'nullptr' signals subscribers that the subscription has ended,
            // e.g. this happens when the corresponding trajectory was finished and hence
            // no more local SLAM updates will occur.
            // The callback can return 'false' to indicate that the client is not
            // interested in more local SLAM updates and 'MapBuilderServer' will end the
            // subscription.
            using LocalSlamSubscriptionCallback =
                std::function<bool(std::unique_ptr<LocalSlamResult>)>;

            // The callback can return 'false' to indicate that the client is not
            // interested in more global SLAM runs and 'MapBuilderServer' will end the
            // subscription.
            using GlobalSlamOptimizationCallback = std::function<bool(
                const std::map<int /* trajectory_id */, mapping::SubmapId> &,
                const std::map<int /* trajectory_id */, mapping::NodeId> &)>;

            struct Data
            {
                int trajectory_id;
                std::unique_ptr<sensor::Data> data;
            };
            struct LocalSlamSubscriptionId
            {
                const int trajectory_id;
                const int subscription_index;
            };

            MapBuilderContextInterface() = default;
            ~MapBuilderContextInterface() = default;

            MapBuilderContextInterface(const MapBuilderContextInterface &) = delete;
            MapBuilderContextInterface &operator=(const MapBuilderContextInterface &) =
                delete;

            virtual mapping::MapBuilderInterface &map_builder() = 0;
            virtual common::BlockingQueue<std::unique_ptr<Data>> &sensor_data_queue() = 0;
            virtual mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
            GetLocalSlamResultCallbackForSubscriptions() = 0;
            virtual void AddSensorDataToTrajectory(const Data &sensor_data) = 0;
            virtual LocalSlamSubscriptionId SubscribeLocalSlamResults(
                int trajectory_id, LocalSlamSubscriptionCallback callback) = 0;
            virtual void UnsubscribeLocalSlamResults(
                const LocalSlamSubscriptionId &subscription_id) = 0;
            virtual int SubscribeGlobalSlamOptimizations(
                GlobalSlamOptimizationCallback callback) = 0;
            virtual void UnsubscribeGlobalSlamOptimizations(int subscription_index) = 0;
            virtual void NotifyFinishTrajectory(int trajectory_id) = 0;
            virtual LocalTrajectoryUploaderInterface *local_trajectory_uploader() = 0;
            virtual void EnqueueSensorData(int trajectory_id,
                                           std::unique_ptr<sensor::Data> data) = 0;
            virtual void EnqueueLocalSlamResultData(
                int trajectory_id, const std::string &sensor_id,
                const mapping::proto::LocalSlamResultData &local_slam_result_data) = 0;
            virtual void RegisterClientIdForTrajectory(const std::string &client_id,
                                                       int trajectory_id) = 0;
            virtual bool CheckClientIdForTrajectory(const std::string &client_id,
                                                    int trajectory_id) = 0;
        };

    } // namespace cloud
} // namespace cartographer

#endif // CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
